Biped robots are supposed to walk like humans. Ability of stepping over obstacle or
climbing stairs makes legged robot interesting and useful. So an effective method is needed for this. The
Human like walking is a combination of both statically and dynamically stable gait and depends on some
degrees of static stability provided by large feet and by precisely control of Floor Projection of Center of
Mass (FCoM). In this paper we present an approach for such method for climbing stairs based on FCoM.
The movements and positions of Center of Mass (CoM) is identified by using Denavit Hartenberg